This paper aims to fast and robustly estimate the fractional integrals and derivatives of positions from noisy accelerations for a class of fractional order vibration systems defined by the Caputo fractional derivative. The main idea is to convert the original issue into the estimation of the fractional integrals of accelerations and the ones of the unknown initial conditions, on the basis of the additive index law. Being proper integrals, the fractional integrals of accelerations can be estimated via a numerical method. Consequently, solving the original problem boils down to estimating the unknown initial values. To this end, the modulating functions method is adopted. By constructing appropriate modulating functions, the unknown initial values are exactly given in terms of algebraic integral formulas in different situations. Finally, two illustrations are presented to verify the correctness and robustness of the proposed estimators.

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